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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_94ddb28d1a8f6d812dff56d903a1ce15.html">global_body_planner</a></li>  </ul>
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<div class="title">planner_class.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PLANNERCLASS_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PLANNERCLASS_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;global_body_planner/graph_class.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespaceplanning__utils.html">planning_utils</a>;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classPlannerClass.html">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPlannerClass.html">PlannerClass</a> : <span class="keyword">public</span> <a class="code" href="classGraphClass.html">GraphClass</a></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="classPlannerClass.html">PlannerClass</a>();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    ~<a class="code" href="classPlannerClass.html">PlannerClass</a>();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    State randomState(<a class="code" href="classFastTerrainMap.html">FastTerrainMap</a>&amp; terrain);</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    </div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    std::vector&lt;int&gt; neighborhoodN(State s, <span class="keywordtype">int</span> N);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    </div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    std::vector&lt;int&gt; neighborhoodDist(State q, <span class="keywordtype">double</span> dist);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    </div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordtype">int</span> getNearestNeighbor(State q);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;};</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespaceplanning__utils_html"><div class="ttname"><a href="namespaceplanning__utils.html">planning_utils</a></div><div class="ttdef"><b>Definition:</b> planning_utils.h:18</div></div>
<div class="ttc" id="classGraphClass_html"><div class="ttname"><a href="classGraphClass.html">GraphClass</a></div><div class="ttdoc">A general directed graph class. </div><div class="ttdef"><b>Definition:</b> graph_class.h:21</div></div>
<div class="ttc" id="classPlannerClass_html"><div class="ttname"><a href="classPlannerClass.html">PlannerClass</a></div><div class="ttdoc">A directed graph class with supplemental methods to aid in sample-based planning. ...</div><div class="ttdef"><b>Definition:</b> planner_class.h:13</div></div>
<div class="ttc" id="classFastTerrainMap_html"><div class="ttname"><a href="classFastTerrainMap.html">FastTerrainMap</a></div><div class="ttdoc">A terrain map class built for fast and efficient sampling. </div><div class="ttdef"><b>Definition:</b> fast_terrain_map.h:10</div></div>
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